something happend that i would like you guys to give me your opinion on

so last night I was out with a girl who’s a friend of mine,and she got drunk,and pretty much she wanted to go somewhere else to go find some other people (friends of ours) and it was very far away yet i still went with her cause I didn’t want to leave her alone,fast forward she starts falling and I start grabbing her by her waist and arms so she wouldn’t get hurt,we hanged around with the other people and then I returned her home,then 10 mins later she sends me a text saying don’t touch me again,by then I felt something was very wrong because I’m not a man who would ever touch a woman like that,and I had a convo with her and she told me to never send her a message again and now I feel extremely bad and embarrassed cause the only thing I wanted to do is help her,I need you guys to tell me if I did anything wrong